CN211103992U - Spring slot type series elastic driver - Google Patents
Spring slot type series elastic driver Download PDFInfo
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- CN211103992U CN211103992U CN201922062653.3U CN201922062653U CN211103992U CN 211103992 U CN211103992 U CN 211103992U CN 201922062653 U CN201922062653 U CN 201922062653U CN 211103992 U CN211103992 U CN 211103992U
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Abstract
The utility model provides a spring slot type series connection elastic drive ware, this driver are a high compact series connection elastic drive ware, mainly include input flange, spring, bearing, output flange and encoder. The input flange and the output flange are connected and installed through a bearing, and the input flange and the output flange can reliably rotate relative to each other. The input flange is provided with two spring half-groove structures, and the output flange is provided with two spring half-groove structures. When the input flange and the output flange are installed in place through the bearing, the two spring half grooves on the input flange and the two spring half grooves on the output flange form two complete spring grooves together. A spring element is embedded in each spring groove, so that series elastic transmission from the input flange to the output flange is realized. The driver adopts a spring half-groove structure, and can obviously reduce the number of parts and the overall dimension of the series elastic driver, thereby being suitable for the application occasions of the robot end effector with high compactness.
Description
Technical Field
The utility model relates to a manipulator driver technical field, concretely relates to spring slot type series connection elastic drive ware.
Background
In recent years, robots have been rapidly increasing in applications in the fields of agricultural picking, food handling, medicine gripping, and the like. In these applications, the non-destructive gripping of objects is a critical indicator of the robot gripper, and the loss of object gripping during the robot gripping process will directly result in economic losses. Therefore, gripping force control is a key technology for realizing nondestructive gripping by the robot gripper. At present, the control of the gripping force of the robot gripper is mainly realized by a motor torque control technology, the motor torque control technology needs a complex algorithm, a hardware circuit and an encoder to be reliably supported in multiple links, and the torque control can be lost due to faults in any link. The series elastic driver has excellent force control performance and has a wide application prospect in the application field of robot lossless gripping. Due to the fact that the series elastic driver is complex in structure and difficult to miniaturize, the series elastic driver is difficult to apply to a highly compact robot tail end gripper.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: in order to overcome the deficiencies in the prior art, the utility model provides a spring slot type series connection elastic drive ware, this driver have adopted the half groove structure of spring, can show and reduce series connection elastic drive ware part quantity and overall dimension to can adapt to high compact robot end effector application occasion.
The utility model provides a technical scheme that its technical problem will adopt is: a spring slot type series elastic driver is a highly compact type series elastic driver and mainly comprises an input flange, a spring, a bearing, an output flange and an encoder. The input flange and the output flange are connected and installed through a bearing, and the input flange and the output flange can reliably rotate relative to each other.
The input flange is provided with two spring half-groove structures, and the output flange is provided with two spring half-groove structures. When the input flange and the output flange are installed in place through the bearing, the two spring half grooves on the input flange and the two spring half grooves on the output flange form two complete spring grooves together. A spring element is embedded in each spring groove, so that series elastic transmission from the input flange to the output flange is realized.
The input flange contains a D word encoder axle, and after input flange and output flange put in place through the bearing installation, the D word encoder axle passed output flange's through-hole and was realized being connected with the D word hole of encoder. The encoder 7 is embedded and installed on the surface of the output flange for fixing, and measures the relative rotation angle between the input flange and the output flange, so that the measurement of the output load of the series elastic driver is realized.
According to the working principle of the driver, the two spring half grooves of the input flange comprise four end faces of a, b, c and D, and the two spring half grooves of the output flange comprise A, B, C and four end faces of D. After the pre-compressed linear spring is embedded in the spring slot, the end surfaces A and a, B and B, C and C, D and D of the spring slot are automatically aligned under the action of the resilience of the spring. When the series elastic driver is driving an external load, its output flange will be disturbed by the load and will make a relative angular offset with respect to the input flange. When the output flange rotates clockwise relative to the input flange, the spring slot end faces B and D of the output flange compress the linear spring with the spring slot end faces a and c of the input flange respectively. When the output flange rotates counterclockwise relative to the input flange, the spring slot end faces A and C of the output flange compress the linear spring with the spring slot end faces b and d of the input flange respectively, so that the bidirectional driving of the output flange is realized. Due to the adoption of the design of the spring half groove, the axial distance between the input flange and the output flange of the series elastic driver can be effectively reduced. And the spring can be reliably sealed in the spring groove, and an additional mounting structure is not needed, so that the overall structure of the series elastic driver is very compact.
The utility model has the advantages that: compared with the prior art, the utility model provides a spring half slot type series connection elastic drive ware can show and reduce series connection elastic drive ware part quantity and overall dimension to can adapt to high compact robot end effector application scenario.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
Fig. 2 is a schematic structural view of an input flange.
Fig. 3 is a schematic structural view of an output flange.
Fig. 4 is a schematic diagram of the working principle.
In the figure: 1. input flange, 2, spring, 3, bearing, 4, spring half-groove, 5, through-hole, 6, output flange, 7, encoder, 8, D word hole, 9, spring half-groove, 10, D word encoder axle.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.
As shown in fig. 1, the utility model discloses a spring slot type series connection elastic drive ware, this driver are a high compact series connection elastic drive ware, mainly include input flange 1, spring 2, bearing 3, output flange 6 and encoder 7. The input flange 1 and the output flange 6 are connected and installed through the bearing 3, and the input flange and the output flange can reliably rotate relatively.
As shown in fig. 2 and 3, the input flange 1 is provided with two spring half-grooves 9, and the output flange 6 is provided with two spring half-grooves 4. When the input flange 1 and the output flange 6 are installed in place through the bearing 3, the two spring half-grooves 9 on the input flange 1 and the two spring half-grooves 4 on the output flange 6 jointly form two complete spring grooves. A spring element is embedded in each spring groove, so that the series elastic transmission from the input flange 1 to the output flange 6 is realized.
The input flange 1 comprises a D-shaped encoder shaft 10, and after the input flange 1 and the output flange 6 are installed in place through the bearing 3, the D-shaped encoder shaft 10 penetrates through the through hole 5 of the output flange 6 to be connected with the D-shaped hole 8 of the encoder 7. The encoder 7 is embedded and installed on the surface of the output flange 6 for fixing, and measures the relative rotation angle between the input flange 1 and the output flange 6, so that the measurement of the output load of the series elastic driver is realized.
The operating principle of the actuator is shown in fig. 4, wherein the two spring half-grooves 9 of the input flange 1 comprise four end faces a, b, c and D, and the two spring half-grooves 4 of the output flange 6 comprise A, B, C and D. After the pre-compressed linear spring 2 is embedded in the spring slot, the end surfaces A and a, B and B, C and C, D and D of the spring slot will be automatically aligned under the resilience of the spring 2. When the series elastic driver is driving an external load, its output flange 6 will be disturbed by the load and will be angularly offset relative to the input flange 1. When the output flange 6 rotates clockwise relative to the input flange 1, the spring slot end surfaces B and D of the output flange 6 compress the linear spring 2 with the spring slot end surfaces a and c of the input flange 1, respectively. When the output flange 6 rotates counterclockwise relative to the input flange 1, the spring slot end surfaces a and C of the output flange 6 compress the linear spring 2 with the spring slot end surfaces b and d of the input flange 1, respectively, thereby realizing the bidirectional driving of the output flange 6. Due to the adoption of the design of the spring half groove, the axial distance between the input flange and the output flange of the series elastic driver can be effectively reduced. And, spring 2 can reliably seal in the spring groove, does not need extra mounting structure for series connection elastic drive overall structure is very compact.
The utility model has the advantages that:
1. the design of the spring half groove is adopted, and the axial distance from the input flange to the output flange of the series elastic driver can be effectively reduced.
2. The number of the series elastic drivers is small.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. The utility model provides a spring slot type series connection elastic actuator which characterized in that: the input flange and the output flange are connected and installed through the bearing, spring grooves are formed between the input flange and the output flange, and a spring element is embedded into each spring groove to realize series elastic transmission from the input flange to the output flange; the encoder is embedded and installed on the surface of the output flange and fixed, and the relative rotation angle between the input flange and the output flange is measured, so that the measurement of the output load of the series elastic driver is realized.
2. The spring pocket series elastic driver of claim 1, wherein: the input flange is provided with two spring half-groove structures, the output flange is provided with two spring half-groove structures, and when the input flange and the output flange are installed in place through a bearing, the two spring half-grooves on the input flange and the two spring half-grooves on the output flange jointly form two complete spring grooves.
3. The spring pocket series elastic driver of claim 2, wherein: the two spring half grooves of the input flange comprise four end faces a, B, C and D, the two spring half grooves of the output flange comprise A, B, C and D, and after the pre-compressed linear spring is embedded in the spring half grooves, under the resilience action of the spring, the end faces A and a, B and B, C and C, and D and D of the spring half grooves automatically align.
4. The spring pocket series elastic driver of claim 1, wherein: the input flange is provided with a D-shaped encoder shaft, and after the input flange and the output flange are installed in place through a bearing, the D-shaped encoder shaft penetrates through a through hole in the output flange to be connected with a D-shaped hole of the encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922062653.3U CN211103992U (en) | 2019-11-26 | 2019-11-26 | Spring slot type series elastic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922062653.3U CN211103992U (en) | 2019-11-26 | 2019-11-26 | Spring slot type series elastic driver |
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| Publication Number | Publication Date |
|---|---|
| CN211103992U true CN211103992U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922062653.3U Active CN211103992U (en) | 2019-11-26 | 2019-11-26 | Spring slot type series elastic driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474017A (en) * | 2022-01-29 | 2022-05-13 | 武汉大学 | Series elastic driver suitable for flexible upper limb rehabilitation exoskeleton robot |
-
2019
- 2019-11-26 CN CN201922062653.3U patent/CN211103992U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474017A (en) * | 2022-01-29 | 2022-05-13 | 武汉大学 | Series elastic driver suitable for flexible upper limb rehabilitation exoskeleton robot |
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